Heading angle estimation using rotating magnetometer for mobile robots under environmental magnetic disturbances

Magnetometer Calibration and Missile Attitude Filtering Method Based on Energy Estimation

“…Yang et al proposed the Adaptive Fading Square Root Unscented Kalman Filter algorithm by combining the three-axis accelerometer and the triaxial magnetometer, which could improve the self-adaptive ability after the noise was brought into the measurement process and reduce the computational complexity [40]. Feng combined the gyroscope and the magnetometer to extend the Kalman filter [41]. Accordingly, a disturbance index was proposed to characterize the magnitude of the external interference, and judge whether the gyroscope data was used to replace the magnetometer data to complete the attitude estimation.…”